A vision-based endpoint trajectory and vibration control for flexible manipulators

Xin Jiang; Atsushi Konno; Masaru Uchiyama

doi:10.1109/ROBOT.2007.364002

A vision-based endpoint trajectory and vibration control for flexible manipulators

Xin Jiang^*
, Atsushi Konno
, Masaru Uchiyama

^*Corresponding author for this work

Tohoku University
IEEE

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

Abstract

This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	3427-3432
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.364002
State	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 10 Apr 2007 → 14 Apr 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	10/04/07 → 14/04/07

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10.1109/ROBOT.2007.364002

Cite this

@inproceedings{fc6296ba6fa64b7b87b950f3e6107e72,

title = "A vision-based endpoint trajectory and vibration control for flexible manipulators",

abstract = "This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.",

author = "Xin Jiang and Atsushi Konno and Masaru Uchiyama",

year = "2007",

doi = "10.1109/ROBOT.2007.364002",

language = "英语",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3427--3432",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",

}

Jiang, X, Konno, A & Uchiyama, M 2007, A vision-based endpoint trajectory and vibration control for flexible manipulators. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209620, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3427-3432, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 10/04/07. https://doi.org/10.1109/ROBOT.2007.364002

A vision-based endpoint trajectory and vibration control for flexible manipulators. / Jiang, Xin; Konno, Atsushi; Uchiyama, Masaru.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3427-3432 4209620 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A vision-based endpoint trajectory and vibration control for flexible manipulators

AU - Jiang, Xin

AU - Konno, Atsushi

AU - Uchiyama, Masaru

PY - 2007

Y1 - 2007

N2 - This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.

AB - This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.

UR - https://www.scopus.com/pages/publications/36349032774

U2 - 10.1109/ROBOT.2007.364002

DO - 10.1109/ROBOT.2007.364002

M3 - 会议稿件

AN - SCOPUS:36349032774

SN - 1424406021

SN - 9781424406029

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3427

EP - 3432

BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

Y2 - 10 April 2007 through 14 April 2007

ER -

A vision-based endpoint trajectory and vibration control for flexible manipulators

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